CN106103007B - 机器人系统 - Google Patents

机器人系统 Download PDF

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Publication number
CN106103007B
CN106103007B CN201580015137.7A CN201580015137A CN106103007B CN 106103007 B CN106103007 B CN 106103007B CN 201580015137 A CN201580015137 A CN 201580015137A CN 106103007 B CN106103007 B CN 106103007B
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CN
China
Prior art keywords
workpiece
robot
rotating frame
positioner
robots
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201580015137.7A
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English (en)
Chinese (zh)
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CN106103007A (zh
Inventor
约瑟夫·尼德迈尔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Europe GmbH
Original Assignee
Yaskawa Europe GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=52780995&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=CN106103007(B) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Yaskawa Europe GmbH filed Critical Yaskawa Europe GmbH
Publication of CN106103007A publication Critical patent/CN106103007A/zh
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/006—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
CN201580015137.7A 2014-03-20 2015-03-19 机器人系统 Active CN106103007B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102014004075.5 2014-03-20
DE102014004075.5A DE102014004075A1 (de) 2014-03-20 2014-03-20 Robotersystem
PCT/EP2015/000605 WO2015139841A1 (de) 2014-03-20 2015-03-19 Robotersystem

Publications (2)

Publication Number Publication Date
CN106103007A CN106103007A (zh) 2016-11-09
CN106103007B true CN106103007B (zh) 2020-03-06

Family

ID=52780995

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580015137.7A Active CN106103007B (zh) 2014-03-20 2015-03-19 机器人系统

Country Status (9)

Country Link
US (1) US10286546B2 (de)
EP (1) EP3119562B1 (de)
CN (1) CN106103007B (de)
DE (1) DE102014004075A1 (de)
ES (1) ES2753380T3 (de)
PL (1) PL3119562T3 (de)
RS (1) RS59397B1 (de)
SI (1) SI3119562T1 (de)
WO (1) WO2015139841A1 (de)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014004075A1 (de) * 2014-03-20 2015-09-24 Yaskawa Europe Gmbh Robotersystem
JP6480821B2 (ja) * 2015-07-10 2019-03-13 ファナック株式会社 ロボットのカバー構造
JP7144754B2 (ja) * 2017-04-26 2022-09-30 日本電産株式会社 多関節ロボットおよび多関節ロボットシステム
DE112017007914A5 (de) * 2017-10-06 2020-05-20 Faurecia Emissions Control Technologies, Germany Gmbh Verfahren zum betrieb einer arbeitsstation
CN107984108A (zh) * 2017-12-20 2018-05-04 迈赫机器人自动化股份有限公司 汽车排气系统焊接工作站及汽车焊接设备
JP6730361B2 (ja) * 2018-04-05 2020-07-29 ファナック株式会社 ロボットシステム
CN108705178B (zh) * 2018-05-31 2021-05-04 广州德恒汽车装备科技有限公司 一种弧焊工作站
CN108748267A (zh) * 2018-06-25 2018-11-06 丰汉电子(上海)有限公司 机器人轨道用废液收集装置
CN109877513A (zh) * 2019-03-19 2019-06-14 广西汽车集团有限公司 一种焊接工艺生产线
CN109894780A (zh) * 2019-03-25 2019-06-18 广西汽车集团有限公司 一种机器人焊接工作系统
JP6972062B2 (ja) * 2019-04-12 2021-11-24 株式会社安川電機 生産システム及び制御方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1375088A1 (de) * 2002-06-21 2004-01-02 ABB PATENT GmbH Schutzeinrichtung für eine Roboteranlage
DE19904422B4 (de) * 1998-09-10 2009-07-30 Kuka Roboter Gmbh Bewegungssteuerung eines Roboters
DE102008008306A1 (de) * 2008-02-07 2009-08-13 Edag Gmbh & Co. Kgaa Drehtisch
US8210418B1 (en) * 2011-06-09 2012-07-03 Landoll Corporation Multi-station, gantry-based automated welding system

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US4949444A (en) * 1987-04-17 1990-08-21 Yamazaki Mazak Corporation Machine tool machining method
GB9117804D0 (en) * 1991-08-17 1991-10-09 Autotech Robotics Ltd Workpiece handling system
US5873569A (en) * 1994-01-21 1999-02-23 Genesis Systems Group Workpiece positioner
JPH1015856A (ja) 1996-07-08 1998-01-20 Mitsubishi Heavy Ind Ltd 産業用ロボット装置
US5758554A (en) * 1996-12-05 1998-06-02 Miyano; Toshiharu Tom Machine tool and method for machining a long-shafted workpiece
US6048254A (en) * 1997-03-06 2000-04-11 Keltech Engineering Lapping apparatus and process with annular abrasive area
US5967882A (en) * 1997-03-06 1999-10-19 Keltech Engineering Lapping apparatus and process with two opposed lapping platens
US5910041A (en) * 1997-03-06 1999-06-08 Keltech Engineering Lapping apparatus and process with raised edge on platen
US6120352A (en) * 1997-03-06 2000-09-19 Keltech Engineering Lapping apparatus and lapping method using abrasive sheets
US6264418B1 (en) * 1998-03-30 2001-07-24 Motoman, Inc. Workpiece positioner
US6357994B1 (en) * 1999-10-01 2002-03-19 Abb Flexible Automation, Inc. Multi-purpose end effector for a robotic arm
JP4310626B2 (ja) * 2003-07-29 2009-08-12 アイシン・エィ・ダブリュ株式会社 機械加工ライン
US7262385B2 (en) * 2004-01-28 2007-08-28 The Boeing Company Material processing device
DE102005019688A1 (de) * 2005-04-22 2006-10-26 Bielomatik Leuze Gmbh + Co.Kg Industrieschweißanlage
DE102006026134A1 (de) 2006-06-03 2007-06-21 Daimlerchrysler Ag Bearbeitungssystem zum Bearbeiten eines bewegten Werkstücks
US8651357B2 (en) * 2009-11-09 2014-02-18 Lincoln Global, Inc. Robot positioner
DE102010002128A1 (de) * 2010-02-18 2011-08-18 MAG Europe GmbH, 73033 Bearbeitungsanlage für Werkstücke
DE102014004075A1 (de) * 2014-03-20 2015-09-24 Yaskawa Europe Gmbh Robotersystem

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19904422B4 (de) * 1998-09-10 2009-07-30 Kuka Roboter Gmbh Bewegungssteuerung eines Roboters
EP1375088A1 (de) * 2002-06-21 2004-01-02 ABB PATENT GmbH Schutzeinrichtung für eine Roboteranlage
DE102008008306A1 (de) * 2008-02-07 2009-08-13 Edag Gmbh & Co. Kgaa Drehtisch
US8210418B1 (en) * 2011-06-09 2012-07-03 Landoll Corporation Multi-station, gantry-based automated welding system

Also Published As

Publication number Publication date
US10286546B2 (en) 2019-05-14
EP3119562B1 (de) 2019-07-31
RS59397B1 (sr) 2019-11-29
SI3119562T1 (sl) 2019-11-29
PL3119562T3 (pl) 2020-03-31
ES2753380T3 (es) 2020-04-08
EP3119562A1 (de) 2017-01-25
CN106103007A (zh) 2016-11-09
DE102014004075A1 (de) 2015-09-24
US20180169853A1 (en) 2018-06-21
WO2015139841A1 (de) 2015-09-24

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